added albatross config and mixer

ROMFS/px4fmu_common/init.d/2105_maja

@@ -5,10 +5,12 @@
 # @type Standard Plane
 #
 # @output MAIN1 aileron
-# @output MAIN2 elevator
+# @output MAIN2 aileron
-# @output MAIN3 rudder
+# @output MAIN3 elevator
-# @output MAIN4 throttle
+# @output MAIN4 rudder
-# @output MAIN5 wheel
+# @output MAIN5 throttle
+# @output MAIN6 wheel
+# @output MAIN7 flaps
 #
 # @output AUX1 feed-through of RC AUX1 channel
 # @output AUX2 feed-through of RC AUX2 channel
@@ -39,7 +41,7 @@ then
     param set PWM_DISARMED 1000
 fi
 
-set MIXER AERTWF
+set MIXER AAERTWF
 
 # use PWM parameters for throttle channel
 set PWM_OUT 5

ROMFS/px4fmu_common/init.d/2106_albatross

@@ -0,0 +1,51 @@
+#!nsh
+#
+# @name Applied Aeronautics Albatross
+#
+# @type Standard Plane
+#
+# @output MAIN1 aileron right
+# @output MAIN2 aileron left
+# @output MAIN3 v-tail right
+# @output MAIN4 v-tail left
+# @output MAIN5 throttle
+# @output MAIN6 wheel
+# @output MAIN7 flaps right
+# @output MAIN8 flaps left
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Andreas Antener <andreas@uaventure.com>
+#
+
+sh /etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    param set FW_AIRSPD_MIN 10
+    param set FW_AIRSPD_TRIM 15
+    param set FW_AIRSPD_MAX 20
+
+    param set FW_MAN_P_MAX 55
+    param set FW_MAN_R_MAX 55
+    param set FW_R_LIM 55
+
+    param set FW_WR_FF 0.2
+    param set FW_WR_I 0.2
+    param set FW_WR_IMAX 0.8
+    param set FW_WR_P 1
+    param set FW_W_RMAX 0
+
+    # set disarmed value for the ESC
+    param set PWM_DISARMED 1000
+fi
+
+set MIXER AAVVTWFF
+
+# use PWM parameters for throttle channel
+set PWM_OUT 5
+set PWM_DISARMED p:PWM_DISARMED
+set PWM_MIN p:PWM_MIN
+set PWM_MAX p:PWM_MAX

ROMFS/px4fmu_common/mixers/AAVVTWFF.main.mix

@@ -0,0 +1,84 @@
+Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
+=======================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, v-tail (rudder, elevator), throttle, steerable wheel and flaps
+using PX4FMU.
+The configuration assumes the aileron servos are connected to PX4FMU servo
+output 0 and 1, the tail servos to output 2 and 3, the throttle
+to output 4, the wheel to output 5 and the flaps to output 6 and 7.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
+
+Aileron mixer (roll + flaperon)
+---------------------------------
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0  10000  10000      0 -10000  10000
+S: 0 6 -10000 -10000      0 -10000  10000
+
+V-tail mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+On the assumption that the two tail servos are physically reversed, the pitch
+input is inverted between the two servos.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 2  -7000  -7000      0 -10000  10000
+S: 0 1  -8000  -8000      0 -10000  10000
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 2  -7000  -7000      0 -10000  10000
+S: 0 1   8000   8000      0 -10000  10000
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+Wheel mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the wheel servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2 -10000 -10000      0 -10000  10000
+
+Flaps mixer
+------------
+Flap servos are physically reversed.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000   5000      0 -10000  10000
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4 -10000  -5000      0 -10000  10000
+